IROS 2025

A Planning Framework for Stable Robust Multi-Contact Manipulation has been accepted for presentation at IROS 2025 in Hangzhou, China.

Summer Research Internship

Completed summer research internship at Rice University's Robot-Pi Lab under Prof. Kaiyu Hang, working on XLeRobot mobile manipulator development and Sim2Real reinforcement learning.

Dean's List Recognition

Achieved Dean's List certificates for both AY2023/24 and AY2024/25, maintaining top 5% academic performance at NTU.

HEBI Motor Electromechanical Modeling & Dual-Arm Manipulation

• Research on Series-Elastic Actuator model of HEBI motors at Robotics Research Centre, NTU
• Designed experiments for motor parameter estimation including Armature constant (Kt) and Velocity constant (Kv) with PWM and PID control
• Built dual planar and 6DOF arms with HEBI motors and established teleoperation-based impedance control
• Derived Forward Kinematics and Jacobian for impedance control implementation
• Developed understanding of how motor dynamics shapes overall robot performance

Multi-Contact Manipulation Planning Framework

• Co-authored paper "A Planning Framework for Stable Robust Multi-Contact Manipulation" accepted at IROS 2025
• Helped with multi-manipulator setup (2DOF dual arm + 7DOF Kinova) for planar peg-in-hole task
• Extended to Multiple Peg-in-Hole manipulation scenarios
• Understood principles of optimizing DMP/trajectory parameters using BBO with cost functions modeling robot-world interaction
• Established pipeline integrating perception, planning, and manipulation (ongoing project)

Quadruped Jumping Control & Compliance Strategy

• Designed compliance control strategy for quadruped jumping at Delta Electronics
• Implemented virtual spring-damper system between hip and foot frames for each leg
• Derived Forward/Inverse Kinematics and Jacobian for each leg as 3DOF manipulator
• Modeled Cartesian forces at foot using impedance controller for jumping amplitude and direction control
• Achieved forward/backward and CW/CCW jumping in both Gazebo/Mujoco simulation and real Unitree Go2 robot
• Research inspired by "Quadruped-Frog: Rapid Online Optimization of Continuous Quadruped Jumping"

XLeRobot Mobile Manipulator Development

• Developed control codebase for XLeRobot: Fully Autonomous Household Dual-Arm Mobile Robot ($660)
• Implemented Keyboard, XBOX joystick, and VR teleoperation control interfaces
• Built RGB/Semantic Segmentation based Reinforcement Learning (PPO) via ManiSkill
• Developed zero-shot real-world deployment based on Stone's LeRobot Sim2Real codebase
• Worked on low-cost mobile manipulator for extended manipulation workspace

URECA Research: Frontal Photopolymerization

• Developed new frontal photopolymerization strategy for functionally-graded materials
• Based on UV attenuation principles under Prof. K Jimmy Hsia
• Published in URECA Papers and Posters

Earthquake Damage Modeling

• Kaggle competition project modeling earthquake Richter scale and impacts
• Modeled earthquake damage grades in Nepal using location and construction data
• Applied data cleaning, one-hot encoding, visualization, Random Forest, Logistic Regression, and KNN

Conference Papers

Extracurricular Activities

Xinyuan Charity Center | Guangdong, China | Aug 2020 - Aug 2021

• Organized drawing lessons for autistic children to help them adapt to school and build social relationships

Residential Hall Garden Leader | NTU Singapore | Aug 2023 - Present

• Led weekly gardening activities, including seed germination, watering, and tool maintenance

Honors and Awards

• Dean's List Certificate AY2023/24 (Top 5%), Mechanical Engineering, NTU Singapore
• Dean's List Certificate AY2024/25 (Top 5%), Mechanical Engineering, NTU Singapore
• URECA Undergraduate Research Program 2023/2024 Certificate

Technical Skills

Data Analysis & Machine Learning: Python (OOP), Conda/Anaconda
Robotics: ROS1/2, C/C++, Arduino, CAN Protocol, SolidWorks
Simulation: Mujoco, Maniskill, MATLAB
Languages: English (IELTS Band 7), Chinese (Mandarin), Cantonese (Native)